WO2023029890A1

WO2023029890A1 - Clutch kiss-point position self-learning method and apparatus

Info

Publication number: WO2023029890A1
Application number: PCT/CN2022/110775
Authority: WO
Inventors: 祝浩; 徐家良; 刘加明
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-08-31
Filing date: 2022-08-08
Publication date: 2023-03-09
Also published as: CN113700773A; CN113700773B

Abstract

Disclosed in the present disclosure are a clutch kiss-point position self-learning method and apparatus. The clutch kiss-point position self-learning method comprises: determining whether a vehicle meets an operating condition of a clutch kiss-point self-learning working condition; when the vehicle meets the operating condition, recording a parallel driving engine torque, and fixing the torque of an engine to be the parallel driving engine torque; adjusting the rotational speed of the engine by means of a generator, until the difference between the rotational speed of the engine and a target rotational speed of the engine is continuously kept within a first preset range within a first preset time, and recording the current torque GmTqThd of the generator; and measuring the difference between a real-time torque and the current torque GmTqThd of the generator, sequentially increasing the current of a clutch solenoid valve by taking a preset step length as a unit and measuring the difference, and taking a finally recorded current value of the clutch solenoid valve as a self-learning value of the present clutch kiss-point self-learning working condition.

Description

Self-learning method and device for clutch semi-engagement point position

This application claims the priority of the Chinese patent application with application number 202111010732.5 submitted to the China Patent Office on August 31, 2021, the entire content of which is incorporated herein by reference.

technical field

The present application relates to the technical field of vehicle engineering, for example, to a method and device for self-learning the half-engagement point position of a clutch.

Background technique

For a dual-motor hybrid hybrid vehicle, when the clutch is disengaged, the vehicle is in the series driving mode, and the engine speed is decoupled from the vehicle speed so that the engine can work in the economic zone; when the clutch is engaged, the vehicle is in the parallel driving mode, and the engine speed and The vehicle speed has a fixed speed ratio relationship; when switching from the series drive mode to the parallel drive mode, the clutch needs to be engaged. Since the engine speed is not synchronized with the vehicle speed before the clutch is engaged, the engine speed is usually adjusted to be synchronized with the vehicle speed through the generator. state, and then the clutch is engaged to reduce the impact of the vehicle during the clutch engagement process.

However, if the engine speed is adjusted to a process state that is completely synchronized with the vehicle speed through the generator, the speed adjustment process will take a long time. Because there is a gap in the clutch, there is a certain volume in the clutch-related pipelines. Therefore, if the clutch set pressure gradually increases from 0, the clutch pressure build-up time will be too long, which will cause the entire series-parallel switching time to become longer and affect the driving quality. And for dual-motor hybrid hybrid vehicles, the generator is usually used to adjust the engine speed instead of completely eliminating the speed difference through clutch engagement. Therefore, the self-learning method of the half-engagement point position of the traditional clutch cannot be referred to.

Contents of the invention

This application proposes a self-learning method and device for the position of the clutch half-engagement point, which can obtain a more accurate and reliable current value of the clutch solenoid valve, and realize the pressure control of the clutch faster and more smoothly, thereby maintaining the noise of the clutch engagement, Under the premise of vibration and harshness (Noise, Vibration, Harshness, NVH) performance, the clutch engagement time is reduced.

A method for self-learning the position of a clutch half-engagement point, which is applied to a vehicle. The vehicle includes a generator, an engine, a clutch, and a drive motor. The output end of the engine and the output end of the generator mesh and are connected to one end of the clutch. One end is connected with the drive motor, and the self-learning method of the position of the half-engagement point of the clutch includes:

Determine whether the vehicle meets the operating conditions of the self-learning working condition of the clutch half-engagement point;

responsive to the vehicle meeting the operating conditions, recording the parallel drive engine torque, and fixing the torque of the engine such that the parallel drive engine torque remains constant;

Set the target speed of the engine as Vset, Vset=V _Target +V1, V _Target is the speed value of the drive motor when the vehicle enters the self-learning condition of the clutch half-engagement point, 40<V1<60, adjust the speed of the engine through the generator V, until the difference between the engine speed V and the engine target speed Vset remains within the first preset range within the first preset time, and record the current torque GmTqThd of the generator;

The initial value I1=I0-Is of the electric current value of the clutch solenoid valve of this clutch semi-combination point self-learning working condition, I0 is the self-learning value of the current value of the clutch solenoid valve at the clutch semi-combining point self-learning working condition last time, Is is the preset step size of the clutch solenoid valve current. It detects the difference between the real-time torque of the generator and GmTqThd. difference, until the difference is greater than the preset value or the number of increments reaches the preset number of times, the current value of the clutch solenoid valve that is finally recorded is used as the self-learning value of this clutch half-engagement point self-learning working condition.

In one embodiment, also include:

In response to the fact that the vehicle does not meet the operating conditions of the clutch half-engagement point self-learning working condition, the current clutch half-engagement point self-learning working condition is ended.

In one embodiment, the operating conditions include: the vehicle is in the series drive mode and receives a request to switch to the parallel drive mode, and the vehicle speed remains stable, and the vehicle is in the current driving process, the clutch half-engagement point self-learning working condition Completed less than three times.

In one embodiment, after determining the self-learning value of the self-learning working condition of the clutch half-engagement point, the method further includes: if the vehicle receives a request to switch to the parallel driving mode, the vehicle executes a series-parallel switching process.

In one embodiment, also include:

When the absolute value of the rate of change of the vehicle speed remains within the second preset range for a second preset time, it is determined that the vehicle speed remains stable.

In one embodiment, also include:

During this driving cycle, the average value of the self-learning values of all clutch half-engagement point self-learning conditions is calculated, and the average value is used as the self-learning value of the clutch half-engagement point self-learning condition of this driving cycle and stored.

In one embodiment, the preset step size of the current of the clutch solenoid valve is Is=(Imax−I0)/10, and Imax is the maximum value of the current value of the clutch solenoid valve.

In one embodiment, the difference between the engine speed V and the engine target speed Vset is kept within a first preset range, including:

When Vset−V2<V<Vset+V2, it is determined that the difference between the engine speed V and the engine target speed Vset is within the first preset range, 8<V2<12.

In one embodiment, after sequentially increasing the current of the clutch solenoid valve with a preset step size, it further includes:

Wait for a preset period of time before detecting the difference between the real-time torque of the generator and GmTqThd.

A self-learning device for the position of a half-engagement point of a clutch, comprising:

A rotational speed sensor, the rotational speed sensor is set to detect the rotational speed of the engine;

a torque sensor, the torque sensor is set to detect the real-time torque of the generator;

A current sensor, the current sensor is set to detect the current value of the clutch solenoid valve;

The control mechanism is communicatively connected with the rotational speed sensor, the torque sensor and the current sensor, and the control mechanism is configured to implement the self-learning method for the position of the half-engagement point of the clutch described above.

A vehicle, comprising a generator, an engine, a clutch, a driving motor and the above-mentioned self-learning device for the position of the half-engagement point of the clutch, the output end of the engine meshes with the output end of the generator and is connected to one end of the clutch, The other end of the clutch is connected to the drive motor, and the clutch half joint point position self-learning device is connected to the generator, the engine, the clutch and the drive motor, and is configured to perform the above-mentioned clutch half Combination point position self-learning method.

A non-transitory storage medium stores a computer program, and when the program is executed, the above self-learning method for the position of the half-engagement point of the clutch is realized.

Description of drawings

Fig. 1 is a flow chart of a self-learning method for a clutch half-engagement point position provided by an embodiment of the present application;

Fig. 2 is a flow chart of another clutch half-engagement point position self-learning method provided by the embodiment of the present application;

Fig. 3 is a schematic structural diagram of a self-learning device for a clutch half-engagement point position provided by an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Reference signs:

1. Engine; 2. Generator; 3. Shock absorber; 4. Reduction mechanism; 5. Clutch; 6. Drive motor; 7. Differential; 10. Speed sensor; 20. Torque sensor; 30. Current sensor; 40. Control mechanism.

Detailed ways

The technical solution of the present application will be described below in conjunction with the accompanying drawings and through specific implementation methods.

In the description of this application, unless otherwise stipulated and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the meanings of the above terms in this application according to the situation.

In this application, unless otherwise specified and limited, a first feature being "on" or "under" a second feature may include that the first and second features are in direct contact, and may also include that the first and second features are not in direct contact. contact but through additional feature contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

The terms "center", "longitudinal", "transverse", "length", "width", "thickness", "top", "bottom", "front", "rear", "left", "right", " Vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. The orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be configured in a specific orientation. and operation, and therefore should not be construed as limiting the application. In the description of the present application, unless otherwise specified, "plurality" means two or more. In addition, the terms "first" and "second" are only used to distinguish in description, and have no special meaning.

The method and device for self-learning the clutch half-engagement point position according to the embodiment of the present application will be described below with reference to FIGS. 1-3 .

As shown in Figures 1-3, Figure 1 discloses a self-learning method for the position of the clutch half-engagement point, which is applied to a vehicle, and the vehicle includes a generator, an engine, a clutch and a drive motor, the output end of the engine and the output end of the generator Engaged and connected with one end of the clutch, and the other end of the clutch is connected with the driving motor, and the self-learning method of the position of the half-engagement point of the clutch includes:

S1. Determine whether the vehicle satisfies the operating conditions of the self-learning working condition of the clutch half-engagement point.

S2. When the vehicle meets the operating conditions, record the torque of the parallel drive engine, and fix the torque of the engine so that the torque of the parallel drive engine remains unchanged.

S3. Set the target speed of the engine as Vset, Vset=V _Target +V1, V _Target is the speed value of the driving motor when the vehicle enters the self-learning condition of the clutch half-engagement point, 40<V1<60, adjust the engine through the generator until the difference between the engine speed V and the engine target speed Vset remains within the first preset range within the first preset time, and record the current torque GmTqThd of the generator.

S4, the initial value I1=I0-Is of the electric current value of the clutch solenoid valve of this clutch semi-bonding point self-learning working condition, I0 is the self-learning of the clutch solenoid valve current value at the clutch semi-bonding point self-learning working condition last time value, Is is the preset step size of the clutch solenoid valve current, detect the difference between the real-time torque of the generator and GmTqThd, when the difference is less than the preset value, increase the current of the clutch solenoid valve sequentially with a preset step size And detect the difference until the difference is greater than the preset value or the number of increments reaches the preset number of times, and the current value of the clutch solenoid valve recorded at last is used as the self-learning value of this clutch half-engagement point self-learning working condition.

In S1, it can be determined according to the actual working conditions of the vehicle whether it is necessary to execute the clutch half-engagement point self-learning working condition, thereby improving the execution accuracy of the clutch half-engaging point self-learning working condition.

In S2, when the clutch is not engaged, the generator output torque is used to stabilize the engine speed. At this time, the load of the generator is constant. When the clutch is engaged, the load of the generator increases due to the connection between the engine and the clutch. , which will lead to changes in the torque of the generator. In order to ensure that the torque change of the generator can accurately correspond to the engagement position of the clutch, the load provided by the engine to the generator needs to be kept constant at this time, thereby increasing the current value of the clutch solenoid valve. accuracy.

In S3, since the output end of the engine is connected to the driving motor through a clutch, in order to realize the conversion of the vehicle operating condition into a parallel driving mode, it is necessary to adjust the speed V of the engine to be closer to the speed of the driving motor to eliminate the difference between the two. Poor speed. In this embodiment, since the target rotational speed of the engine is set as Vset=V _Target +V1, V _Target is the rotational speed value of the drive motor when the vehicle enters the clutch half-engagement point self-learning mode, and the rotational speed of the engine is adjusted by the generator V is near the speed of the drive motor, and it is not necessary to completely adjust the speed V of the engine to be the same as the speed of the drive motor, so that when there is a deviation between the two speeds, the final speed difference can be eliminated by closing the clutch to reduce The speed regulation time of the engine speed V. In this embodiment, V1 may be 50.

In S4, the initial value of the current value of the clutch solenoid valve is set to be less than the self-learning value of the last clutch half-engagement point self-learning condition, which can prevent the previous clutch half-engagement point self-learning condition from being directly used. The self-learning value of the clutch semi-engagement point self-learning working condition has met the situation that the difference between the real-time torque of the generator and GmTqThd is less than the preset value, so as to ensure the accuracy of adjusting the current value of the clutch solenoid valve. At the same time, since the clutch pressure is usually increased by increasing the current value of the clutch solenoid valve, and the clutch is engaged, and when the clutch enters the half-engagement point position, it will participate in speed maintenance, resulting in changes in the real-time torque of the generator. By testing the difference between the real-time torque of the generator and GmTqThd under the condition of a fixed current value of the clutch solenoid valve, it is judged whether the clutch has reached the half-engagement point position. And in S4, by sequentially increasing the preset step size, the reliability of the current increase of the clutch solenoid valve can be better ensured, thereby ensuring that the current value of the clutch solenoid valve obtained by the test is consistent with the real current value of the clutch at the half-engagement point position The error is small. At the same time, in order to ensure the operating efficiency of the self-learning working condition, it is also possible to use the current value of the last clutch solenoid valve as the starting value of this self-learning working condition when the difference is still less than the preset value after the number of times is increased to the preset number. self-learning value.

According to the self-learning method for the position of the clutch half-engagement point in this embodiment, under the condition that the generator adjusts the engine speed, the engine speed can be maintained by the generator first, and then the clutch pressure can be gradually increased, and the load applied by the engine to the generator can be guaranteed. Fixed, so that according to the characteristics that the clutch will participate in the speed maintenance and cause the real-time torque of the generator to change when it reaches the half-combination point position, and determine whether the clutch has reached the half-combination point position according to the change of the real-time torque of the generator, it can be effectively Improve the accuracy of the current value of the clutch solenoid valve corresponding to the position of the half-engagement point of the clutch, and then be able to complete the pressure control of the clutch faster and more smoothly according to the more accurate and reliable current value of the clutch solenoid valve, thereby maintaining the clutch Reduce the clutch engagement time under the premise of combining NVH performance.

In this embodiment, the preset number of times is 3-5 times, for example, 4 times, and the number of preset times can be determined according to actual needs.

In some embodiments, in S2, S3 and S4, if the vehicle does not meet the operating conditions of the clutch half-engagement point self-learning condition, the current clutch half-engagement point self-learning condition is ended.

Through the above settings, it is possible to effectively avoid the problem of performing the clutch semi-engagement point self-learning working condition and obtain the current value of the clutch solenoid valve with a large error when the vehicle is running unstable, thereby ensuring an accurate and reliable clutch solenoid valve. to prevent inaccurate clutch solenoid current values from negatively affecting clutch pressure control.

In some embodiments, the operating conditions include: the vehicle is in the series driving mode and a request to switch to the parallel driving mode is received, the speed of the vehicle remains stable, and the vehicle is in the current driving process, the clutch half-engagement point self-learning working condition completed less than three times.

, keeping the speed of the vehicle stable can ensure that the vehicle is in a stable running state, so as to prevent the negative impact on the adjustment of the engine speed V in S3, and thus make the current value of the clutch solenoid valve inaccurate. When the vehicle is in the series drive mode and receives a request to switch to the parallel drive mode, it can ensure that the clutch closing action will be completed later, so as to better ensure the smooth progress of S4. If the number of completions of the self-learning working condition of the clutch half-engagement point is less than three times, the invalid self-learning working condition in this driving process can be avoided, so as to save energy efficiency.

In some embodiments, it further includes: after S4 ends, if the vehicle receives a request to switch to the parallel driving mode, the vehicle executes a series-parallel switching process.

Through the above settings, the normal and reliable switching of the vehicle in different driving modes can be guaranteed.

In some embodiments, when the absolute value of the change rate of the vehicle speed remains within the second preset range for a second preset time, the vehicle speed remains stable.

Through the above settings, it can be considered that the speed of the vehicle remains stable. The second preset time and the second preset range can be confirmed according to the actual operating conditions of the vehicle, and need not be described in detail here.

In some embodiments, during this driving cycle, the average value of the self-learning values of all clutch half-engagement point self-learning operating conditions is calculated, and the average value is used as the value of the clutch half-engaging point self-learning operating condition of this driving cycle. Self-learn value and store.

By carrying out the average calculation of the self-learning values of all the clutch half-engagement point self-learning working conditions obtained in this driving cycle process, the self-learning of the clutch half-engaging point self-learning working conditions obtained in this driving cycle process can be achieved. The value is more accurate and reliable, and in other embodiments of the present application, other optimization methods can also be used, which need not be repeated here.

In addition, in this embodiment, the self-learning value of the clutch half-engagement point self-learning working condition is stored in the non-volatile memory, which can better ensure the storage reliability of the self-learning value of the clutch half-engaging point self-learning working condition, In order to facilitate the recall in the next driving cycle.

In some embodiments, the preset step size of the current of the clutch solenoid valve is Is=(Imax−I0)/10, and Imax is the maximum value of the current value of the clutch solenoid valve.

If the preset step size is too small, the clutch solenoid valve current will be adjusted too many times, and the self-learning condition of the half-engagement point of the clutch will end prematurely, reducing the reliability of the self-learning value; The difference between the solenoid valve current values is relatively large, and it is prone to the problem that the more accurate self-learning value is located between the two adjustment values, resulting in a decrease in the accuracy of the self-learning value.

The above calculation formula can better ensure that the preset step size is not too large or too small, so as to obtain a more accurate and reliable self-learning value under the current clutch half-engagement point self-learning condition, and then realize Faster and smoother clutch pressure control, shortening clutch engagement time.

In some embodiments, in S4, when Vset−V2<V<Vset+V2, it is determined that the difference between the engine speed V and the engine target speed Vset is within the first preset range, 8<V2<12.

Through the setting of the above-mentioned first preset range, it can be realized that the clutch is closed when there is still a certain deviation between the engine speed V and the engine target speed Vset, so that the clutch can be determined according to the torque change of the generator during the actual clutch closing process. Whether the position of the half-engagement point is reached, thereby better ensuring the accuracy and reliability of the clutch closing time, and further ensuring the reliability of determining the current value of the clutch solenoid valve. In this embodiment, V2=10, in other embodiments of the present application, V2 may also be determined according to actual working conditions.

In some embodiments, as shown in FIG. 2 , in S4 , after sequentially increasing the current of the clutch solenoid valve with a preset step size, the difference between the real-time torque of the generator and GmTqThd is detected after waiting for a preset period of time.

After the current value of the clutch solenoid valve is adjusted, the clutch will be closed under the action of the increased current of the clutch solenoid valve, so the closing of the clutch and the change of the torque of the generator will be completed after waiting for a preset period of time. Therefore, in this embodiment, due to waiting for a preset period of time, the detection accuracy of the difference between the real-time torque of the generator and GmTqThd can be improved, and the reliability of the self-learning value of the current value of the clutch solenoid valve can be improved. In this embodiment, the preset time length is 1 second, and the time length can be determined according to actual working conditions without any limitation.

As shown in FIG. 3 , the present application also discloses a clutch half-engagement point self-learning device, which includes a rotational speed sensor 10 , a torque sensor 20 , a current sensor 30 and a control mechanism 40 . The rotational speed sensor 10 is provided to detect the rotational speed of the engine. The torque sensor 20 is arranged to detect the real-time torque of the generator. The current sensor 30 is provided to detect the current value of the clutch solenoid valve. The control mechanism 40 is connected in communication with the rotational speed sensor 10 , the torque sensor 20 and the current sensor 30 , and the control mechanism 40 is configured to implement the self-learning method for the half-engagement point position of the clutch described above.

According to the self-learning device for the position of the half-engagement point of the clutch in the embodiment of the present application, since the self-learning method for the position of the half-engagement point of the clutch can be implemented, the accuracy of the current value of the clutch solenoid valve corresponding to the position of the half-engagement point of the clutch can be effectively improved. Therefore, according to the more accurate and reliable current value of the clutch solenoid valve, the pressure control of the clutch can be completed faster and more smoothly, thereby reducing the clutch engagement time while maintaining the NVH performance of the clutch engagement.

As shown in Figure 4, the application also discloses a vehicle, the vehicle includes an engine 1, a generator 2, a shock absorber 3, a reduction mechanism 4, a clutch 5, a drive motor 6, a differential 7 and the above-mentioned clutch Self-learning device for semi-junction position. The output end of the engine 1 is connected with a shock absorber 3, and the other end of the shock absorber 3 and the output end of the generator 2 are meshed through a reduction mechanism 4, and the reduction mechanism 4 is connected with one end of the clutch 5, and the drive motor 6 is connected with the other end of the clutch 5. One end is connected, and the output end of the driving motor 6 is connected with the differential gear 7 . The clutch half-engagement point position self-learning device is connected with the generator 1, the engine 2, the clutch 5 and the driving motor 6, and is configured to execute the above-mentioned clutch half-engagement point position self-learning method.

The present application also discloses a non-transitory storage medium, which stores a computer program. When the program is executed, the above self-learning method for the position of the half-engagement point of the clutch is realized.

Example:

The following describes a self-learning method for a clutch half-engagement point position according to an embodiment of the present application with reference to FIGS. 1-2 .

The self-learning method of the clutch half-engagement point position of the present embodiment includes:

S1. Determine whether the vehicle satisfies the operating conditions of the self-learning working condition of the clutch half-engagement point. The operating conditions include: the vehicle is in the series drive mode and receives a request to switch to the parallel drive mode, and the vehicle speed remains stable, and the vehicle is in this time. During the driving process, the number of completions of the clutch half-engagement point self-learning condition is less than three times, and when the absolute value of the rate of change of the vehicle speed remains within the second preset range for a second preset time, the vehicle speed remains stable.

S3. Set the target speed of the engine as Vset, Vset=V _Target +V1, V _Target is the speed value of the driving motor when the vehicle enters the self-learning condition of the clutch half-engagement point, 40<V1<60, adjust the engine through the generator until the difference between the engine speed V and the engine target speed Vset remains within the first preset range within the first preset time, and record the current torque of the generator as GmTqThd.

S4, the initial value I1=I0-Is of the electric current value of the clutch solenoid valve of this clutch semi-bonding point self-learning working condition, I0 is the self-learning of the clutch solenoid valve current value at the clutch semi-bonding point self-learning working condition last time value, Is is the preset step size of the clutch solenoid valve current, detect the difference between the real-time torque of the generator and GmTqThd, when the difference is less than the preset value, increase the current of the clutch solenoid valve sequentially with a preset step size And detect the difference until the difference is greater than the preset value or the number of increments reaches the preset number of times, and the current value of the clutch solenoid valve recorded at last is used as the self-learning value of the self-learning working condition of the clutch half-engagement point; the clutch solenoid valve current The preset step size Is=(Imax-I0)/10, Imax is the maximum value of the current value of the clutch solenoid valve; when Vset-V2<V<Vset+V2, determine the difference between the speed V of the engine and the target speed Vset of the engine The difference is within the first preset range, 8<V2<12; after the current of the clutch solenoid valve is increased sequentially by a preset step size, the difference between the real-time torque of the generator and GmTqThd is detected after waiting for a preset time.

S5, after the end of S4, if the vehicle receives a request to switch to the parallel driving mode, the vehicle executes a series-parallel switching process.

In the description of this specification, descriptions with reference to the terms "some embodiments", "other embodiments" and the like mean that the features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or embodiment of the present application. example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Claims

A method for self-learning the half-engagement point position of a clutch, applied to a vehicle, the vehicle includes a generator, an engine, a clutch and a drive motor, the output end of the engine and the output end of the generator are meshed with the output end of the clutch One end is connected, and the other end of the clutch is connected with the drive motor, and the method includes:

Determining whether the vehicle satisfies the operating conditions of the clutch half-engagement point self-learning working condition;

recording a parallel drive engine torque and fixing the torque of the engine to the parallel drive engine torque in response to the vehicle meeting the operating condition;

Set the target speed of the engine as Vset, and adjust the speed V of the engine through the generator until the difference between the speed V of the engine and the target speed Vset of the engine lasts for a first preset time Keep within the first preset range, and record the current torque GmTqThd of the generator, wherein, Vset=V Target +V1, V Target is the self-learning working condition of the drive motor when the vehicle enters the clutch half-engagement point The speed value under the condition of 40<V1<60;

Detecting the difference between the real-time torque of the generator and GmTqThd, if the difference is less than a preset value, sequentially increasing the current of the clutch solenoid valve with a preset step size and detecting the difference until The difference is greater than the preset value or the number of times of increase reaches the preset number of times, and the current value of the clutch solenoid valve that is finally recorded is used as the self-learning value of the clutch half-engagement point self-learning working condition this time, wherein, this time The initial value I1=I0-Is of the electric current value of the clutch electromagnetic valve of the clutch half-joint point self-learning working condition, I0 is the self-learning of the electric current value of the described clutch solenoid valve at the clutch half-joint self-learning working condition last time Value, Is is the preset step size of the clutch solenoid valve current.
The self-learning method for clutch half-engagement point position according to claim 1, further comprising:

In response to the fact that the vehicle does not satisfy the operating condition, the current clutch half-engagement point self-learning working condition is ended.
The self-learning method for clutch half-engagement point position according to claim 1, wherein the operating conditions include: the vehicle is in a series driving mode and a request to switch to a parallel driving mode is received, and the vehicle speed of the vehicle remains stable , and during the current driving process of the vehicle, the number of times the clutch half-engagement point self-study working condition is completed is less than three times.
The clutch half-engagement point position self-learning method according to claim 3, wherein, after determining the self-learning value of this clutch half-engagement point self-learning working condition, further comprising:

In a case where the vehicle receives a request to switch to a parallel driving mode, the vehicle performs a series-parallel switching process.
The self-learning method for clutch half-engagement point position according to claim 3, further comprising:

In a case where the absolute value of the rate of change of the vehicle speed of the vehicle remains within a second preset range for a second preset time, it is determined that the vehicle speed of the vehicle remains stable.
The self-learning method for clutch half-engagement point position according to claim 1, further comprising:

During this driving cycle, calculate the average value of the self-learning values of all clutch half-engagement point self-learning operating conditions, use the average value as the self-learning value of the clutch half-engaging point self-learning operating conditions of this driving cycle and storage.
The self-learning method for clutch half-engagement point position according to claim 1, wherein, the preset step size Is=(Imax-I0)/10 of the clutch solenoid valve current, and Imax is the current value of the clutch solenoid valve maximum value.
The self-learning method for clutch half-engagement point position according to claim 1, wherein the difference between the engine speed V and the engine target speed Vset is kept within the first preset range, comprising:

In the case of Vset−V2<V<Vset+V2, it is determined that the difference between the engine speed V and the engine target speed Vset is within a first preset range, wherein 8<V2<12.
According to the self-learning method of clutch half-engagement point position according to claim 1, after said sequentially increasing clutch solenoid valve current with a preset step size, further comprising:

Waiting for a preset period of time before detecting the difference between the real-time torque of the generator and GmTqThd.
A self-learning device for the position of a half-engagement point of a clutch, comprising:

A rotational speed sensor, the rotational speed sensor is set to detect the rotational speed of the engine;

a torque sensor, the torque sensor is set to detect the real-time torque of the generator;

A current sensor, the current sensor is set to detect the current value of the clutch solenoid valve;

A control mechanism is communicatively connected with the rotational speed sensor, the torque sensor and the current sensor, and the control mechanism is configured to implement the clutch half-engagement point position self-learning method according to any one of claims 1-9.
A vehicle, comprising a generator, an engine, a clutch, a driving motor, and the self-learning device for the position of the clutch half-engagement point according to claim 10, the output end of the engine and the output end of the generator are meshed with the One end of the clutch is connected, the other end of the clutch is connected with the drive motor, and the self-learning device for the position of the clutch half joint point is connected with the generator, the engine, the clutch and the drive motor, and is set to Execute the self-learning method for the position of the half-engagement point of the clutch according to any one of claims 1-9.
A non-transitory storage medium, which stores a computer program, and when the program is executed, the method for self-learning the clutch half-engagement point position according to any one of claims 1-9 is realized.